Title :
Dynamic vision for ROV stabilization
Author :
Wasielewski, S. ; Aldon, M.J.
Author_Institution :
LIRMM, Montpellier, France
Abstract :
Stationkeeping is an important capability for various functions involving the operation of undersea vehicles. This involves an accurate estimation of the vehicle displacement. In this paper we propose a monocular vision system for determining the motion of an underwater remotely operated vehicle. The camera motion is estimated with a feature-based method which requires the extraction and the matching of relevant features. The performance of the algorithm is presented with simulated and synthetic images
Keywords :
feature extraction; marine systems; mobile robots; motion estimation; position control; robot vision; ROV stabilization; algorithm; camera motion; dynamic vision; extraction; feature-based method; monocular vision system; performance; stationkeeping; undersea vehicles; underwater remotely operated vehicle; vehicle displacement; Cameras; Cleaning; Image motion analysis; Inspection; Machine vision; Motion estimation; Optical sensors; Petroleum; Remotely operated vehicles; Vehicle dynamics;
Conference_Titel :
OCEANS '96. MTS/IEEE. Prospects for the 21st Century. Conference Proceedings
Conference_Location :
Fort Lauderdale, FL
Print_ISBN :
0-7803-3519-8
DOI :
10.1109/OCEANS.1996.569052
